Modeling of precision motion control systems: a relay feedback approach

Abstract

In this thesis, various models and modeling techniques is developed for motion control systems, mainly with relay feedback approaches. First, a data-driven model is developed for valve stiction. Secondly, both time-domain and frequency domain modeling methods are developed for friction-impended motion control systems, using dual-channel relay feedback. The relay feedback is further applied to modeling force ripples in permanent-magnet linear motors. Simulations and experiments are conducted to verify the effectiveness of the new model and methods.